Wrist with decoupled motion transmission

Details Wrist with decoupled motion transmission Wrist with decoupled motion transmission

2005-11-29

2005-11-29

Rollins, Rosiland (Department: 3739)

Surgery

Instruments

C074S490010, C901S029000

Reexamination Certificate

active

06969385

ABSTRACT:
The present invention is a wrist mechanism and a method for making robotic devices in which the transmission of motion, force and/or torque around a revolute joint can be accomplished without coupling. This construction allows mounting the actuators on the base or lower elements of a mechanism, so that only linkage elements move the end-effector. Thus reducing inertia of the moving elements and increasing performance of the device. The decoupled motion of the end-effector or links is achieved by routing their transmission cables around idler pulleys placed parallel to the joint rotation axis on an optimal position such any stretch on the transmission cable is minimized. In particular, this construction can be use for robotic surgical tools that have two independently driven jaws, decoupled and orthogonal from its articulating wrist. This device may be used in grasping, cutting, suturing or alike operations.

REFERENCES:
patent: 6394998 (2002-05-01), Wallace et al.

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